scholarly journals An Improved Multipath Mitigation Method and Its Application in Real-Time Bridge Deformation Monitoring

2021 ◽  
Vol 13 (12) ◽  
pp. 2259
Author(s):  
Ruicheng Zhang ◽  
Chengfa Gao ◽  
Qing Zhao ◽  
Zihan Peng ◽  
Rui Shang
Keyword(s):  
Real Time ◽  
Sampling Rate ◽  
Threshold Value ◽  
Deformation Monitoring ◽  
Success Rates ◽  
Multipath Mitigation ◽  
Mode Decomposition ◽  
Observation Noise ◽  
Original Observation ◽  
Better Than

A multipath is a major error source in bridge deformation monitoring and the key to achieving millimeter-level monitoring. Although the traditional MHM (multipath hemispherical map) algorithm can be applied to multipath mitigation in real-time scenarios, accuracy needs to be further improved due to the influence of observation noise and the multipath differences between different satellites. Aiming at the insufficiency of MHM in dealing with the adverse impact of observation noise, we proposed the MHM_V model, based on Variational Mode Decomposition (VMD) and the MHM algorithm. Utilizing the VMD algorithm to extract the multipath from single-difference (SD) residuals, and according to the principle of the closest elevation and azimuth, the original observation of carrier phase in the few days following the implementation are corrected to mitigate the influence of the multipath. The MHM_V model proposed in this paper is verified and compared with the traditional MHM algorithm by using the observed data of the Forth Road Bridge with a seven day and 10 s sampling rate. The results show that the correlation coefficient of the multipath on two adjacent days was increased by about 10% after residual denoising with the VMD algorithm; the standard deviations of residual error in the L1/L2 frequencies were improved by 37.8% and 40.7%, respectively, which were better than the scores of 26.1% and 31.0% for the MHM algorithm. Taking a ratio equal to three as the threshold value, the fixed success rates of ambiguity were 88.0% without multipath mitigation and 99.4% after mitigating the multipath with MHM_V. The MHM_V algorithm can effectively improve the success rate, reliability, and convergence rate of ambiguity resolution in a bridge multipath environment and perform better than the MHM algorithm.

A novel GNSS deformation feature extraction method based on ensemble improved LMD threshold denoising

2020 ◽  
Vol 14 (4) ◽  
pp. 445-453
Author(s):  
Qian Fan ◽  
Yiqun Zhu
Keyword(s):  
Feature Extraction ◽  
Spline Interpolation ◽  
Simulated Data ◽  
Mining Area ◽  
Deformation Monitoring ◽  
Denoising Method ◽  
Feature Extraction Method ◽  
Deformation Feature ◽  
Mode Decomposition ◽  
Better Than

AbstractIn order to solve the problem that the moving span of basic local mean decomposition (LMD) method is difficult to choose reasonably, an improved LMD method (ILMD), which uses three cubic spline interpolation to replace the sliding average, is proposed. On this basis, with the help of noise aided calculation, an ensemble improved LMD method (EILMD) is proposed to effectively solve the modal aliasing problem in original LMD. On the basis of using EILMD to effectively decompose the data of GNSS deformation monitoring series, GNSS deformation feature extraction model based on EILMD threshold denoising is given by means of wavelet soft threshold processing mode and threshold setting method in empirical mode decomposition denoising. Through the analysis of simulated data and the actual GNSS monitoring data in the mining area, the results show that denoising effect of the proposed method is better than EILMD, ILMD and LMD direct coercive denoising methods. It is also better than wavelet analysis denoising method, and has good adaptability. This fully demonstrates the feasibility and effectiveness of the proposed method in GNSS feature extraction.

scholarly journals Fusion of GNSS and Speedometer Based on VMD and Its Application in Bridge Deformation Monitoring

Sensors ◽  
2020 ◽  
Vol 20 (3) ◽  
pp. 694 ◽  
Author(s):  
Ruicheng Zhang ◽  
Chengfa Gao ◽  
Shuguo Pan ◽  
Rui Shang
Keyword(s):  
Real Time ◽  
High Precision ◽  
High Frequency ◽  
Spectral Response ◽  
Low Frequency ◽  
Deformation Monitoring ◽  
Full Time ◽  
Dynamic Displacement ◽  
Mode Decomposition ◽  
Acceleration Sensors

Real-time dynamic displacement and spectral response on the midspan of Jiangyin Bridge were calculated using Global Navigation Satellite System (GNSS) and a speedometer for the purpose of understanding the dynamic behavior and the temporal evolution of the bridge structure. Considering that the GNSS measurement noise is large and the velocity/acceleration sensors cannot measure the low-frequency displacement, the Variational Mode Decomposition (VMD) algorithm was used to extract the low-frequency displacement of GNSS. Then, the low-frequency displacement extracted from the GNSS time series and the high-frequency vibration calculated by speedometer were combined in this paper in order to obtain the high precision three-dimensional dynamic displacement of the bridge in real time. Simulation experiment and measured data show that the VMD algorithm could effectively resist the modal aliasing caused by noise and discontinuous signals compared with the commonly used Empirical Mode Decomposition (EMD) algorithm, which is guaranteed to get high-precision fusion data. Finally, the fused displacement results can identify high-frequency vibrations and low-frequency displacements of a mm level, which can be used to calculate the spectral characteristics of the bridge and provide reference to evaluate the dynamic and static loads, and the health status of the bridge in the full frequency domain and the full time domain.

A new method for QRS detection in ECG signals using QRS-preserving filtering techniques

2018 ◽  
Vol 63 (2) ◽  
pp. 207-217 ◽  
Author(s):  
Tanushree Sharma ◽  
Kamalesh K. Sharma
Keyword(s):  
Real Time ◽  
Wavelet Transforms ◽  
State Of The Art ◽  
Qrs Detection ◽  
Detection Techniques ◽  
Ecg Signals ◽  
Mode Decomposition ◽  
Improved Performance ◽  
Better Than

AbstractDetection of QRS complexes in ECG signals is required for various purposes such as determination of heart rate, feature extraction and classification. The problem of automatic QRS detection in ECG signals is complicated by the presence of noise spectrally overlapping with the QRS frequency range. As a solution to this problem, we propose the use of least-squares-optimisation-based smoothing techniques that suppress the noise peaks in the ECG while preserving the QRS complexes. We also propose a novel nonlinear transformation technique that is applied after the smoothing operations, which equalises the QRS amplitudes without boosting the supressed noise peaks. After these preprocessing operations, the R-peaks can finally be detected with high accuracy. The proposed technique has a low computational load and, therefore, it can be used for real-time QRS detection in a wearable device such as a Holter monitor or for fast offline QRS detection. The offline and real-time versions of the proposed technique have been evaluated on the standard MIT-BIH database. The offline implementation is found to perform better than state-of-the-art techniques based on wavelet transforms, empirical mode decomposition, etc. and the real-time implementation also shows improved performance over existing real-time QRS detection techniques.

scholarly journals LS-VCE Applied to Stochastic Modeling of GNSS Observation Noise and Process Noise

2022 ◽  
Vol 14 (2) ◽  
pp. 258
Author(s):  
Pengyu Hou ◽  
Jiuping Zha ◽  
Teng Liu ◽  
Baocheng Zhang
Keyword(s):  
Stochastic Model ◽  
Stochastic Modeling ◽  
Ambiguity Resolution ◽  
Sampling Rate ◽  
Dual Frequency ◽  
Process Noise ◽  
Dilution Of Precision ◽  
Observation Noise ◽  
The Impact ◽  
Better Than

Stochastic models play a crucial role in global navigation satellite systems (GNSS) data processing. Many studies contribute to the stochastic modeling of GNSS observation noise, whereas few studies focus on the stochastic modeling of process noise. This paper proposes a method that is able to jointly estimate the variances of observation noise and process noise. The method is flexible since it is based on the least-squares variance component estimation (LS-VCE), enabling users to estimate the variance components that they are specifically interested in. We apply the proposed method to estimate the variances for the dual-frequency GNSS observation noise and for the process noise of the receiver code bias (RCB). We also investigate the impact of the stochastic model upon parameter estimation, ambiguity resolution, and positioning. The results show that the precision of GNSS observations differs in systems and frequencies. Among the dual-frequency GPS, Galileo, and BDS code observations, the precision of the BDS B3 observations is highest (better than 0.2 m). The precision of the BDS phase observations is better than two millimeters, which is also higher than that of the GPS and Galileo observations. For all three systems, the RCB process noise ranges from 0.5 millimeters to 1 millimeter, with a data sampling rate of 30 s. An improper stochastic model of the observation noise results in an unreliable ambiguity dilution of precision (ADOP) and position dilution of precision (PDOP), thus adversely affecting the assessment of the ambiguity resolution and positioning performance. An inappropriate stochastic model of RCB process noise disturbs the estimation of the receiver clock and the ionosphere delays and is thus harmful for timing and ionosphere retrieval applications.

scholarly journals Real-time automatic uncertainty estimation of coseismic single rectangular fault model using GNSS data

2021 ◽  
Vol 73 (1) ◽  
Author(s):  
Keitaro Ohno ◽  
Yusaku Ohta ◽  
Satoshi Kawamoto ◽  
Satoshi Abe ◽  
Ryota Hino ◽  
...  
Keyword(s):  
Real Time ◽  
Disaster Response ◽  
Order Approximation ◽  
Nonlinear Problems ◽  
Large Earthquake ◽  
Fault Model ◽  
Deformation Monitoring ◽  
Model Parameters ◽  
The Sea Of Japan ◽  
Plate Interface

AbstractRapid estimation of the coseismic fault model for medium-to-large-sized earthquakes is key for disaster response. To estimate the coseismic fault model for large earthquakes, the Geospatial Information Authority of Japan and Tohoku University have jointly developed a real-time GEONET analysis system for rapid deformation monitoring (REGARD). REGARD can estimate the single rectangular fault model and slip distribution along the assumed plate interface. The single rectangular fault model is useful as a first-order approximation of a medium-to-large earthquake. However, in its estimation, it is difficult to obtain accurate results for model parameters due to the strong effect of initial values. To solve this problem, this study proposes a new method to estimate the coseismic fault model and model uncertainties in real time based on the Bayesian inversion approach using the Markov Chain Monte Carlo (MCMC) method. The MCMC approach is computationally expensive and hyperparameters should be defined in advance via trial and error. The sampling efficiency was improved using a parallel tempering method, and an automatic definition method for hyperparameters was developed for real-time use. The calculation time was within 30 s for 1 × 106 samples using a typical single LINUX server, which can implement real-time analysis, similar to REGARD. The reliability of the developed method was evaluated using data from recent earthquakes (2016 Kumamoto and 2019 Yamagata-Oki earthquakes). Simulations of the earthquakes in the Sea of Japan were also conducted exhaustively. The results showed an advantage over the maximum likelihood approach with a priori information, which has initial value dependence in nonlinear problems. In terms of application to data with a small signal-to-noise ratio, the results suggest the possibility of using several conjugate fault models. There is a tradeoff between the fault area and slip amount, especially for offshore earthquakes, which means that quantification of the uncertainty enables us to evaluate the reliability of the fault model estimation results in real time.

scholarly journals RTLIO: Real-Time LiDAR-Inertial Odometry and Mapping for UAVs

Sensors ◽  
2021 ◽  
Vol 21 (12) ◽  
pp. 3955
Author(s):  
Jung-Cheng Yang ◽  
Chun-Jung Lin ◽  
Bing-Yuan You ◽  
Yin-Long Yan ◽  
Teng-Hu Cheng
Keyword(s):  
Feedback Control ◽  
Real Time ◽  
High Frequency ◽  
Indoor Environment ◽  
Indoor Localization ◽  
Sampling Rate ◽  
Outdoor Environment ◽  
Position Accuracy ◽  
Graph Optimization ◽  
Pose Graph Optimization

Most UAVs rely on GPS for localization in an outdoor environment. However, in GPS-denied environment, other sources of localization are required for UAVs to conduct feedback control and navigation. LiDAR has been used for indoor localization, but the sampling rate is usually too low for feedback control of UAVs. To compensate this drawback, IMU sensors are usually fused to generate high-frequency odometry, with only few extra computation resources. To achieve this goal, a real-time LiDAR inertial odometer system (RTLIO) is developed in this work to generate high-precision and high-frequency odometry for the feedback control of UAVs in an indoor environment, and this is achieved by solving cost functions that consist of the LiDAR and IMU residuals. Compared to the traditional LIO approach, the initialization process of the developed RTLIO can be achieved, even when the device is stationary. To further reduce the accumulated pose errors, loop closure and pose-graph optimization are also developed in RTLIO. To demonstrate the efficacy of the developed RTLIO, experiments with long-range trajectory are conducted, and the results indicate that the RTLIO can outperform LIO with a smaller drift. Experiments with odometry benchmark dataset (i.e., KITTI) are also conducted to compare the performance with other methods, and the results show that the RTLIO can outperform ALOAM and LOAM in terms of exhibiting a smaller time delay and greater position accuracy.

scholarly journals Improving the Stochastic Model of Ionospheric Delays for BDS Long-Range Real-Time Kinematic Positioning

2021 ◽  
Vol 13 (14) ◽  
pp. 2739
Author(s):  
Huizhong Zhu ◽  
Jun Li ◽  
Longjiang Tang ◽  
Maorong Ge ◽  
Aigong Xu
Keyword(s):  
Real Time ◽  
Long Range ◽  
Ionospheric Delay ◽  
Time Interval ◽  
Short Time Interval ◽  
Dual Frequency ◽  
Triple Frequency ◽  
Ambiguity Fixing ◽  
Power Spectral ◽  
Observation Noise

Although ionosphere-free (IF) combination is usually employed in long-range precise positioning, in order to employ the knowledge of the spatiotemporal ionospheric delays variations and avoid the difficulty in choosing the IF combinations in case of triple-frequency data processing, using uncombined observations with proper ionospheric constraints is more beneficial. Yet, determining the appropriate power spectral density (PSD) of ionospheric delays is one of the most important issues in the uncombined processing, as the empirical methods cannot consider the actual ionosphere activities. The ionospheric delays derived from actual dual-frequency phase observations contain not only the real-time ionospheric delays variations, but also the observation noise which could be much larger than ionospheric delays changes over a very short time interval, so that the statistics of the ionospheric delays cannot be retrieved properly. Fortunately, the ionospheric delays variations and the observation noise behave in different ways, i.e., can be represented by random-walk and white noise process, respectively, so that they can be separated statistically. In this paper, we proposed an approach to determine the PSD of ionospheric delays for each satellite in real-time by denoising the ionospheric delay observations. Based on the relationship between the PSD, observation noise and the ionospheric observations, several aspects impacting the PSD calculation are investigated numerically and the optimal values are suggested. The proposed approach with the suggested optimal parameters is applied to the processing of three long-range baselines of 103 km, 175 km and 200 km with triple-frequency BDS data in both static and kinematic mode. The improvement in the first ambiguity fixing time (FAFT), the positioning accuracy and the estimated ionospheric delays are analysed and compared with that using empirical PSD. The results show that the FAFT can be shortened by at least 8% compared with using a unique empirical PSD for all satellites although it is even fine-tuned according to the actual observations and improved by 34% compared with that using PSD derived from ionospheric delay observations without denoising. Finally, the positioning performance of BDS three-frequency observations shows that the averaged FAFT is 226 s and 270 s, and the positioning accuracies after ambiguity fixing are 1 cm, 1 cm and 3 cm in the East, North and Up directions for static and 3 cm, 3 cm and 6 cm for kinematic mode, respectively.

scholarly journals Multivariate empirical mode decomposition–based structural damage localization using limited sensors

2021 ◽  
pp. 107754632110069
Author(s):  
Sandeep Sony ◽  
Ayan Sadhu
Keyword(s):  
Empirical Mode Decomposition ◽  
Structural Damage ◽  
Cost Effective ◽  
Threshold Value ◽  
Damage Localization ◽  
Time Frequency ◽  
Multivariate Empirical Mode Decomposition ◽  
Percentage Difference ◽  
Mode Decomposition

In this article, multivariate empirical mode decomposition is proposed for damage localization in structures using limited measurements. Multivariate empirical mode decomposition is first used to decompose the acceleration responses into their mono-component modal responses. The major contributing modal responses are then used to evaluate the modal energy for the respective modes. A damage localization feature is proposed by calculating the percentage difference in the modal energies of damaged and undamaged structures, followed by the determination of the threshold value of the feature. The feature of the specific sensor location exceeding the threshold value is finally used to identify the location of structural damage. The proposed method is validated using a suite of numerical and full-scale studies. The validation is further explored using various limited measurement cases for evaluating the feasibility of using a fewer number of sensors to enable cost-effective structural health monitoring. The results show the capability of the proposed method in identifying as minimal as 2% change in global modal parameters of structures, outperforming the existing time–frequency methods to delineate such minor global damage.

Intelligent Displacement Measuring System for Rock Stratum

2011 ◽  
Vol 103 ◽  
pp. 583-586
Author(s):  
Feng Ling Li ◽  
Jian Hua Rong ◽  
Yu Ping Zhang
Keyword(s):  
Civil Engineer ◽  
Real Time ◽  
Sampling Rate ◽  
Measuring System ◽  
Displacement Sensor ◽  
Rock Stratum ◽  
Baud Rate ◽  
Real Time Clock ◽  
High Sampling Rate ◽  
Displacement System

Measuring rock stratum displacement in dam grouting process is very important. A new displacement system is designed, comprising a programmable microcontroller Atmega16, a new grating capacitive displacement sensor(GCDS), DS1302 real time clock chip and announciator etc. The system has high sampling rate of 9600 baud rate and can trap the displacement equal to 0.001 millimeter in one second. Equipped with mechanical conveyance system, the system can be applied to the civil engineer. The experiment results show the instrument can measure accurately the displacement value and alarm geologic disaster in time, which can conduct continuous and accurate monitoring and provide operation decisions for dam engineers.

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